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/*
* Copyright (C) 2015, 2016 "IoT.bzh"
* Author "Romain Forlot" <romain.forlot@iot.bzh>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include <vector>
#include <string>
#include <cstdint>
#include <linux/can.h>
#include "utils/timer.hpp"
#define CAN_MESSAGE_SIZE 8
class can_bus_dev_t;
/**
* @enum can_message_format_t
* @brief The ID format for a CAN message.
*/
enum class can_message_format_t {
STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
};
/**
* @class can_message_t
*
* @brief A compact representation of a single CAN message, meant to be used in in/out
* buffers.
*/
class can_message_t {
private:
uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
uint32_t id_; /*!< id_ - The ID of the message. */
uint8_t length_; /*!< length_ - the length of the data array (max 8). */
can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
public:
can_message_t();
can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t> data);
uint32_t get_id() const;
bool get_rtr_flag_() const;
can_message_format_t get_format() const;
uint8_t get_flags() const;
const uint8_t* get_data() const;
uint8_t get_length() const;
void set_format(const can_message_format_t new_format);
bool is_correct_to_send();
static can_message_t convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
canfd_frame convert_to_canfd_frame();
};
/**
* @class can_message_definition_t
*
* @brief The definition of a CAN message. This includes a lot of metadata, so
* to save memory this struct should not be used for storing incoming and
* outgoing CAN messages.
*/
class can_message_definition_t
{
private:
can_bus_dev_t& bus_; /*!< bus_ - A pointer to the bus this message is on. */
uint32_t id_; /*!< id_ - The ID of the message.*/
can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
frequency_clock_t clock_; /*!< clock_ - an optional frequency clock to control the output of this
* message, if sent raw, or simply to mark the max frequency for custom
* handlers to retrieve.*/
bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN
* message if it has changed when using raw passthrough.*/
std::vector<uint8_t> last_value_; /*!< last_value_ - The last received value of the message. Defaults to undefined.
* This is required for the forceSendChanged functionality, as the stack
* needs to compare an incoming CAN message with the previous frame.*/
public:
can_message_definition_t(can_bus_dev_t& cbd);
uint32_t get_id() const;
};
/** Public: Retrive a list of all possible CAN configurations.
*
* Returns a pointer to an array of all configurations.
*/
can_message_set_t* getMessageSets();
/** Public: Return the length of the array returned by getMessageSets() */
int getMessageSetCount();
/* Public: Return an array of all CAN messages to be processed in the active
* configuration.
*/
can_message_definition_t* getMessages();
/* Public: Return the length of the array returned by getMessages(). */
int getMessageCount();
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